Amateur Robotics

Back in about 1987, I decided that I wanted to learn about robotics. I was just in junior high at the time, so it seemed out of reach. Schools hadn't yet figured out that computers were here to stay, and there weren't any of the cool technology-intensive programs like we have today.

Time passed, and in my junior year of high school, my parents bought me a basic robotics package, consisting of a Z-80 motherboard, the guts of a dumb terminal, some stepper motors, and a build-it-yourself H-bridge kit. This was a nice little package, and I had no real problems getting it up and running, but whoever had written the program had been paranoid about copyright infringement, and had spaghetti-coded the whole thing. As a result, I was never able to do much with the program, and my robotics projects dropped to the side once more.

More time passed, and while I was in California attending Cal Poly, Pomona, I tried to get back into the hobby.
I failed.

While living in Texas, I discovered Lynxmotion and their excellent line of robotic kits. From them, I purchased a 5-axis arm kit, which went together beautifully, and has performed flawlessly ever since. (See below for an update on where it is now.)

Recently, I have taken another run at amateur robotics. I now have a dedicated workroom, and a real will to get something accomplished. So far, I've just had a few minor victories, but I'm making progress. I've built up a few motorized bases, and even gotten a couple of them running with rudimentary sensors and programmed control. Keep checking back here often, as this is where I will be posting any progress reports on my various robotics projects.

Oh, yeah... I'd like to both thank and recommend the Dallas Personal Robotics Group (DPRG) for spurring my interest in amateur robotics once again, and providing the inspiration to get my butt back into gear.

Current Robotics Projects

As yet, all my robots are mostly just motorized bases, as the mechanical bits are what I already know how to do. Slowly but surely, I'm learning the programming techniques to be able to actually do something with them eventually.

CD-Bot
Based closely on the FirstBot design, the CD-Bot uses a chassis made from free sample CD-ROMs from internet service providers. Two servos modified for full rotation provide motive force. Batteries are housed in the middle level, and slide out for access. This will probably use a Basic Stamp Rev. D for control and sensing.

Rover Bot
The Rover Bot uses an old gearbox from the Big Trak toy of many years ago. The halves of the gearbox used to be magnetically coupled, but this caused problems with a previous project it was used in, so they were de-coupled a few years ago. This chassis originally used a pair of timer circuits for bump-and-turn obstacle detection, but the board developed some problems and was removed. Maybe it will make a comeback...?

Simple Hex
The Simple Hex walker uses the common three-servo method for achieving a hexapod walking gait. Based very closely on pictures of another amateur's walker I found on the web, I had a couple of mechanical issues to work out before it stepped reliably. Currently the only bot in my collection to actually have a brain, it uses a Parallax Stamp-2 for control.

Tread Bot
Built on a tread base from a motorized toy, the tread bot is my most ambitious robotics project to date. A Lynxmotion 5-axis arm is mounted to the front of the chassis plate, which will eventually carry the rest of the modules, as well. Planned additions include wireless remote control, an arm-mounted video camera, wireless video feedback, and switchable headlights (both visible spectrum and infrared).

Polar Arm
This extendable beam is one of two mechanisms left over from my previous attempt at a scratch-built polar-coordinate arm back in high school. Remarkably robust for something I built back then, this unit mounted on top of a rotating pedestal that served as the shoulder, with a jack screw for elevation control. At the time, I had no experience in mechanical design of this sort, and didn't realize that when designing an arm, you should start at the gripper and work inwards, so as not to overload other components you've already built. That lesson learned, I have the original pieces in storage, just waiting to be reapplied to future projects.

	CD-Bot Based closely on the FirstBot design, the CD-Bot uses a chassis made from free sample CD-ROMs from internet service providers. Two servos modified for full rotation provide motive force. Batteries are housed in the middle level, and slide out for access. This will probably use a Basic Stamp Rev. D for control and sensing.
	Rover Bot The Rover Bot uses an old gearbox from the Big Trak toy of many years ago. The halves of the gearbox used to be magnetically coupled, but this caused problems with a previous project it was used in, so they were de-coupled a few years ago. This chassis originally used a pair of timer circuits for bump-and-turn obstacle detection, but the board developed some problems and was removed. Maybe it will make a comeback...?
	Simple Hex The Simple Hex walker uses the common three-servo method for achieving a hexapod walking gait. Based very closely on pictures of another amateur's walker I found on the web, I had a couple of mechanical issues to work out before it stepped reliably. Currently the only bot in my collection to actually have a brain, it uses a Parallax Stamp-2 for control.
	Tread Bot Built on a tread base from a motorized toy, the tread bot is my most ambitious robotics project to date. A Lynxmotion 5-axis arm is mounted to the front of the chassis plate, which will eventually carry the rest of the modules, as well. Planned additions include wireless remote control, an arm-mounted video camera, wireless video feedback, and switchable headlights (both visible spectrum and infrared).
	Polar Arm This extendable beam is one of two mechanisms left over from my previous attempt at a scratch-built polar-coordinate arm back in high school. Remarkably robust for something I built back then, this unit mounted on top of a rotating pedestal that served as the shoulder, with a jack screw for elevation control. At the time, I had no experience in mechanical design of this sort, and didn't realize that when designing an arm, you should start at the gripper and work inwards, so as not to overload other components you've already built. That lesson learned, I have the original pieces in storage, just waiting to be reapplied to future projects.